Related papers: HARMONIOUS -- Human-like reactive motion control a…
In this paper, the problem of making a safe compliant contact between a human and an assistive robot is considered. Users with disabilities have a need to utilize their assistive robots for physical human-robot interaction (PHRI) during…
Learning from real-world robot demonstrations holds promise for interacting with complex real-world environments. However, the complexity and variability of interaction dynamics often cause purely positional controllers to struggle with…
Bio-inspired sensorimotor control systems may be appealing to roboticists who try to solve problems of multiDOF humanoids and human-robot interactions. This paper presents a simple posture control concept from neuroscience, called…
Human-robot interaction will play an essential role in various industries and daily tasks, enabling robots to effectively collaborate with humans and reduce their physical workload. Most of the existing approaches for physical human-robot…
In our everyday lives we are accustomed to partake in complex, personalized, adaptive interactions with our peers. For a social robot to be able to recreate this same kind of rich, human-like interaction, it should be aware of our needs and…
Autonomous navigation in highly populated areas remains a challenging task for robots because of the difficulty in guaranteeing safe interactions with pedestrians in unstructured situations. In this work, we present a crowd navigation…
Robotic arms, integral in domestic care for individuals with motor impairments, enable them to perform Activities of Daily Living (ADLs) independently, reducing dependence on human caregivers. These collaborative robots require users to…
Tendon-driven underactuated hands excel in adaptive grasping but often suffer from kinematic unpredictability and highly non-linear force transmission. This ambiguity limits their ability to perform precise free-motion shaping and deliver…
Work-Related Musculoskeletal Disorders continue to be a major challenge in industrial environments, leading to reduced workforce participation, increased healthcare costs, and long-term disability. This study introduces a human-sensitive…
Simultaneous locomotion and manipulation enables robots to interact with their environment beyond the constraints of a fixed base. However, coordinating legged locomotion with arm manipulation, while considering safety and compliance during…
Robotic solutions, in particular robotic arms, are becoming more frequently deployed for close collaboration with humans, for example in manufacturing or domestic care environments. These robotic arms require the user to control several…
The human body demonstrates exceptional motor capabilities-such as standing steadily on one foot or performing a high kick with the leg raised over 1.5 meters-both requiring precise balance control. While recent research on humanoid control…
Robust motion planning is a well-studied problem in the robotics literature, yet current algorithms struggle to operate scalably and safely in the presence of other moving agents, such as humans. This paper introduces a novel framework for…
Despite their remarkable advancement in locomotion and manipulation, humanoid robots remain challenged by a lack of synchronized loco-manipulation control, hindering their full dynamic potential. In this work, we introduce a versatile and…
Automating dexterous, contact-rich manipulation tasks using rigid robots is a significant challenge in robotics. Rigid robots, defined by their actuation through position commands, face issues of excessive contact forces due to their…
In this paper, we propose a novel framework on force-and-moment-based Model Predictive Control (MPC) for dynamic legged robots. Specifically, we present a formulation of MPC designed for 10 degree-of-freedom (DoF) bipedal robots using…
Human collaboration with robots requires flexible role adaptation, enabling the robot to switch between an active leader and a passive follower. Effective role switching depends on accurately estimating human intentions, which is typically…
Humanoid robots have demonstrated strong capabilities for interacting with static scenes across locomotion and manipulation, yet dynamic real-world interactions remain challenging. As a step toward fast-moving object interactions, we…
Human-robot co-carrying tasks reveal their potential in both industrial and everyday applications by leveraging the strengths of both parties. Effective control of robots in these tasks requires managing the energy level in the closed-loop…
This work focuses on generating realistic, physically-based human behaviors from multi-modal inputs, which may only partially specify the desired motion. For example, the input may come from a VR controller providing arm motion and body…